JP7134189B2 - container moving device - Google Patents

Description

The present invention relates to a container moving device.

Conventionally, a system has been reported in which containers containing products are piled up to realize high-density storage. For example, in FIGS. 3(a) to 3(c) of Patent Document 1, there is a cargo handling device that travels along rails arranged in a grid pattern on the upper plane of a frame structure that accommodates a plurality of stacked containers. disclosed. The cargo handling device described in WO 2005/010020 can move on top of the frame structure to lift one or more containers by means of gripping plates, thereby enabling picking of the desired items contained in the containers.

Japanese Patent No. 6486927

However, in cargo handling devices such as those described in Figures 3(a) to (c) of US Pat. Therefore, in the cargo handling device shown in FIGS. 3(a) to 3(c) of Patent Document 1, when the container is lifted, the center of gravity of the cargo handling device moves to the outside of the plurality of wheels included in the cargo handling device. However, there is a problem that the cargo handling device may tip over.

On the other hand, FIGS. 5, 17, etc. of Patent Document 1 describe a cargo handling device in which wheels are provided at the bottom of a housing surrounding a container receiving space in which lifted containers are temporarily accommodated. In the cargo handling device described in FIGS. 5 and 17 of Patent Document 1, etc., a crane mechanism for lifting the gripping plate is provided inside the housing. Therefore, when the container is lifted, its center of gravity does not move outside the wheels, increasing the stability of the cargo handling device.

By the way, if the desired container that the cargo handling device is to lift has another container on top of it, then the other container needs to be lifted and temporarily moved to another location. However, if the container is temporarily moved by the cargo handling device described in FIGS. 5 and 17 of Patent Document 1, and the container is loaded above the upper plane of the frame structure, the housing of the cargo handling device and the container interfere with the movement of the cargo handling device. Therefore, if there is no temporary destination for the container inside the frame structure, a single load handling device cannot retrieve the desired container. That is, the cargo handling device described in FIGS. 5, 17, etc. of Patent Document 1 has a problem that it may not be possible to take out the container efficiently.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and in a storage system in which containers are stacked and stored at a high density, a container can be efficiently taken out of a desired container while reducing the risk of overturning. The object is to provide a mobile device.

A container moving apparatus according to the present invention moves a container on a predetermined plane formed by a plurality of first rails extending in a first direction and a plurality of second rails extending in a second direction orthogonal to the first direction. A moving device comprising a frame body, two adjacent first rails of a plurality of first rails, and two adjacent second rails of a plurality of second rails, which move in a vertical direction. A container moving device that engages with a plurality of first rails and a grip part that lifts a container loaded in loading spaces formed in the vertically lower and upper sides of an enclosed area to a storage space inside the frame body, and a container moving device. a first set of wheels for moving the container mover in a first direction; a second set of wheels for engaging a plurality of second rails to move the container mover in a second direction; a drive control unit for controlling the wheel set to move a container loaded in a predetermined loading space to another loading space, the frame body for moving the moved container to a predetermined plane in the other loading space; The side surface extending in the second direction is partially open so that the container moving device can move in the first direction even when the container moving device is loaded up to the top of the container moving device. only one of the first wheel set and the second wheel set engages the corresponding rail, and the second wheel set engages the plurality of second rails, depending on the direction of movement of the , the intervals of the plurality of second wheels included in the second wheel set are varied according to.

Also, in the container moving apparatus according to the present invention, the drive control unit is arranged such that, when the second wheel set is engaged with the plurality of second rails, at least one of the plurality of second wheels is accommodated. Positioning the second wheel set laterally of the space, and positioning the second wheel set such that none of the plurality of second wheels laterally positions the storage space when the second wheel set is not engaged with the plurality of second rails. preferably to move.

Moreover, in the container moving apparatus according to the present invention, it is preferable that the plurality of first wheels included in the first wheel set are arranged with the accommodation space interposed therebetween.

Moreover, it is preferable that the container moving apparatus according to the present invention further includes a storage section provided adjacent to the storage space in the second direction and storing the container lifted to the storage space by the grasping section.

Further, the container moving apparatus according to the present invention further includes a storage unit that stores the loading position of the container and the height of each container, which varies depending on the container, in association with each other. It is preferable to move the gripper vertically based on the force to lift the container into the storage space.

INDUSTRIAL APPLICABILITY A container moving apparatus according to the present invention enables a desired container to be efficiently taken out while reducing the risk of overturning in a storage system in which containers are stacked and stored.

1 is a schematic diagram for explaining the overall structure of a storage system 100; FIG. 3 is a perspective view of a container moving device 4; FIG. 3 is a plan view showing the positional relationship between the first rail 1, the second rail 2, and the container moving device 4. FIG. It is a figure which shows the positional relationship of the support|pillar 3, the container 9, and the hanger 6, Comprising: (a) is a top view, (b) is a perspective view. 4 is a perspective view of a hanger 62; FIG. It is a perspective view of the hanger drive mechanism 600, (a) is a perspective view seen from the opposite side of the drive mechanism, and (b) is a perspective view seen from the drive mechanism side. FIG. 3 is a perspective view showing the configuration of a direction selection mechanism 800; FIG. 3 is a perspective view showing the configuration of a direction selection mechanism 800; 4 is a diagram showing an example of a schematic configuration of a container moving device 4 and a control unit 5; FIG. 4 is a diagram showing an example of the data structure of a container table T1; FIG. FIG. 10 is a diagram showing an example of the data structure of a mobile device table T2; FIG. 10 is a sequence diagram showing an example of the flow of container transport processing; FIG. 10 is a flow diagram showing an example of the flow of container removal processing; FIG. 4 is a schematic diagram for explaining each step of the container removal process; FIG. 4 is a schematic diagram for explaining each step of the container removal process; FIG. 4 is a schematic diagram for explaining each step of the container removal process; 4 is a perspective view of the container moving device 40. FIG. 4 is a perspective view of the container moving device 40. FIG. 4 is a perspective view of the container moving device 40. FIG. It is a figure which shows an example of the data structure of container table T3.

A storage system using a container moving device according to the present invention will be described below with reference to the drawings. However, it should be noted that the technical scope of the present invention is not limited to those embodiments, but extends to the invention described in the claims and equivalents thereof.

FIG. 1 is a schematic diagram for explaining the overall structure of the storage system 100. As shown in FIG. The storage system 100 includes a plurality of first rails 1 extending in the horizontal X-axis direction, a plurality of second rails 2 extending in the horizontal Y-axis direction perpendicular to the X-axis direction, and a vertical A column 3 extending in the Z-axis direction, a container moving device 4 , and a control device 5 . A plurality of loading spaces formed vertically below and above a region surrounded by two adjacent first rails 1 and two adjacent second rails 2 and partitioned by a plurality of struts 3 include a plurality of of containers 9 are loaded. A plurality of containers 9 each have the same shape. As a result, containers can be loaded with high density. The X-axis direction is an example of a first direction, and the Y-axis direction is an example of a second direction.

A container moving device 4 moves on a predetermined plane formed by a plurality of first rails 1 and a plurality of second rails 2, selects a desired container 9 from a plurality of loaded containers 9, and moves the container. It is stored in the storage space 7 inside the device 4 and transported to the unloading work area P. In the carry-out work area P, the robot 1000 moves the transported articles in the container 9 to the boxes 2000, thereby picking the articles. In the carry-in work area Q, the robot 1100 moves the articles in the box 2100 into the container 9 . The container moving device 4 transports the container to the loading space, and the goods are stored in the loading space.

When other containers (eg, 9a to 9c) are loaded on the desired container (eg, 9d), the container moving device 4 temporarily moves the other containers to other loading spaces, and then moves the desired container (eg, 9d). container is stored in the storage space 7 . In this case, the container moving device 4 may move another container to an empty loading space (a loading space in which a container can be loaded on the lower side of a predetermined plane, for example, the loading space of the container 9e). . Further, the container moving device 4 may move another container to a loading space with no empty space (a loading space in which a container cannot be loaded under a predetermined plane, for example, a loading space for the container 9f). . A container moved to a full loading space is loaded above a predetermined plane in the loading space.

FIG. 2 is a perspective view of the container moving device 4. FIG. The container moving device 4 generally has a frame body 400 , a first wheel set 401 , a second wheel set 402 , a hanger drive mechanism 600 , a storage space 7 and a direction selection mechanism 800 . The first wheel set 401 engages the first rail 1 to move the container mover 4 in the X-axis direction. A second wheel set 402 engages the second rail 2 to move the container mover 4 in the Y-axis direction. As will be described later, the direction selection mechanism 800 moves the first wheel set 401 and the second wheel set 402 up and down, and selects the first wheel set 401 and the second wheel set 402 according to the moving direction of the container moving device 4. only one of which is engaged with the corresponding rail. Thereby, the container moving device 4 can move in the X-axis direction and the Y-axis direction on a predetermined plane formed by the plurality of first rails 1 and the plurality of second rails 2 .

The hanger driving mechanism 600 drives the hangers (61, 62) to lift one or more containers 9 loaded in the loading space to the storage space 403 inside the frame 400. Preferably, the hanger drive mechanism 600 lifts up to three containers 9 to the storage space 403 at the same time. The storage space 7 is a space provided adjacent to the accommodation space, and stores the container 9 lifted up to the accommodation space 403 . When multiple containers 9 are simultaneously lifted by the hanger driving mechanism 600, the storage space 7 stores the lowest container 9 among the lifted containers. As a result, the container moving device 4 can take out the desired container with a single lifting operation even if another container is loaded on top of the desired container in the loading space. Note that the storage space 7 may store a plurality of containers 9 at the same time.

The frame body 400 has a shape in which a portion of a side surface extending in the Y-axis direction that is in contact with the accommodation space 403 is open. Thus, even when containers are loaded above a predetermined plane in the loading space, the container moving device 4 can move in the X-axis direction without interference between the loaded containers and the frame 400. - 特許庁

FIG. 3 is a plan view showing the positional relationship between the first rail 1 and second rail 2 of the storage system 100 and the container moving device 4. As shown in FIG. A plurality of first rails 1 and a plurality of second rails 2 are supported by vertically extending struts 3 at their intersection points. Each of the first rails 1 is provided with a recess to engage a first set of wheels 401 of the container moving device 4 . Preferably, each first rail 1 is provided with two recesses (eg recesses 1a-1 and 1a-2). This allows the first wheel sets 401 of the two container moving devices 4 to engage the first rail 1 adjacent in the Y-axis direction. Similarly, each of the second rails 2 is provided with a recess to engage a second set of wheels 402 of the container moving device 4 . Preferably, each of the second rails 2 is provided with two recesses (eg recesses 2a-1 and 2a-2). This allows the second wheel sets 402 of the two container moving devices 4 to engage the second rail 2 adjacent in the X-axis direction.

The first wheel set 401 engages two first rails 1 (eg, 1a and 1c) that are adjacent across one first rail 1 (eg, 1b). The second wheel set 402 engages two adjacent second rails 2 (eg 2a and 2b). That is, the container moving device 4 is arranged over the two loading spaces. A gap is formed between the first rail 1 and the container 9 , and as described later, a hanger provided in the container moving device 4 descends from the gap into the loading space to grip and lift the container 9 .

4A and 4B are diagrams showing the positional relationship between the pillar 3, the container 9, and the hangers (61, 62) in the storage system 100, where (a) is a plan view and (b) is a perspective view. Each of the struts 3 (struts 311, 312, 321, 322) is continuously connected from the bottom to the top so that the hangers 6 (61, 62) of the container moving device 4 are fitted and slidable. Grooves (311a-d, 312a-d, 321a-d, 322a-d) are provided.

The hanger 61 fits into the groove 311c formed in the column 311 and the groove 312b formed in the column 312, and slides vertically by the cables (61a, 61b). Similarly, the hanger 62 fits into the groove 321d formed in the support 321 and the groove 322a formed in the support 322, and slides vertically by the cables (62a, 62b). This allows the hangers (61, 62) to be moved to the side of the desired container (eg 9b) among the loaded containers (9a, 9b, 9c). The horizontal movement of the hangers (61, 62) is restricted by the grooves formed in the struts 3, so that the container 9 can be lifted by the hooks 620 as will be described later.

FIG. 5 is a perspective view of the hanger 62 provided on the container moving device 4. FIG. Hanger 62 is suspended from container moving device 4 by cables 62a and 62b. The cable 62a is a metal tape for hanging and DC power supply (+), and the cable 62b is a metal tape for hanging and DC power supply (-).

The hanger 62 has hooks 620 that protrude from the side of the container 9 and engage with the container 9 . Hook 620 is driven by hanger motor 62c. Whether the hook 620 protrudes or returns is detected by the hook return detection sensor 62d. The hanger 62 includes a power signal superimposing/separating substrate 62e. A control signal for operating the hanger motor 62c and a detection signal from the hook return detection sensor 62d are transmitted to and received from the container moving device 4 via the power signal superimposition/separation board 62e and cables 62a and 62b.

When the hanger 62 moves below the first rail 1 and the second rail 2, the hanger 62 engages with the groove formed in the post 3, but the container moving device above the first rail 1 and the second rail 2 4, it moves along hanger guides 63a and 63b.

6A and 6B are perspective views of the hanger drive mechanism 600, in which (a) is a perspective view seen from the opposite side of the drive mechanism, and (b) is a perspective view seen from the drive mechanism side. When the container lifting motor 49a rotates, the shaft 650 rotates via the belt 630 and the pulley 640, and the cables (61a, 61b, 62a, 62b) are wound up or pulled out. Cables (61a, 61b, 62a, 62b) are vertically movable by guide rollers (610a, 610b, 620a, 620b).

The container moving device 4 is provided with a storage space 7 for storing a desired one of a plurality of containers lifted by hangers (61, 62). The storage space 7 is provided with a movable table 71 that accommodates the lowermost container among the plurality of lifted containers. The movable table 71 slides its mounting surface from the storage space 7 to the lower part of the storage space 403 so that the container can be placed thereon.

7 and 8 are perspective views showing the configuration of the direction selection mechanism 800. FIG. FIG. 7 is a diagram showing the configuration when the container moving device 4 moves in the X-axis direction, and FIG. 8 is a diagram showing the configuration when the container moving device 4 moves in the Y-axis direction. The direction selection mechanism 800 has an expansion mechanism 81 that can expand and contract in the vertical direction, a plate-like support shaft 82, and arms (83a to 83d) that can rotate around a rotation shaft 831. As shown in FIG. The expansion mechanism 81 is joined to the upper surface of the frame 400 at its upper end. The upper surface of the support shaft portion 82 is joined to the lower end of the extension mechanism 81 passing through the plate portion 404 . Rotation shafts 831 of the arms (83a to 83d) are fixed to both side surfaces of the support shaft portion . A plurality of second wheels (402a-402d) included in the second wheel set 402 are rotatably provided at the respective lower ends of the arms (83a-83d). A plurality of first wheels (401a to 401d) included in the first wheel set 401 are rotatably provided at lower portions of both side surfaces extending in the X-axis direction of the frame 400 sandwiching the housing space 403. As shown in FIG.

When the container moving device 4 moves in the X-axis direction, the expansion/contraction mechanism 81 is contracted in the vertical direction. In this state, as shown in FIG. 7, the support shaft portion 82 is in contact with the plate portion 404 fixed to the frame 400 . The arms (83a to 83d) are fixed to the support shaft portion 82 with the angle between two adjacent arms (83a and 83b, for example) being a first angle. At the first angle, none of the second wheels (402a to 402d) are engaged with the second rail 2 and none of the second wheels (402a to 402d) are positioned to the side of the accommodation space 403 in the X-axis direction. It is an angle like As a result, only the first wheel set 401 out of the first wheel set 401 and the second wheel set 402 is engaged with the corresponding rail, and the container moving device 4 can move in the X-axis direction. In addition, hereinafter, the state shown in FIG. 7 may be referred to as the first state of the direction selection mechanism 800 .

When the container moving device 4 moves in the Y-axis direction, the extension mechanism 81 is in a vertically extended state. In this state, as shown in FIG. 8, the support shaft portion 82 is separated downward from the plate portion 404 . The arms (83a to 83d) are fixed in a state where the angle between two adjacent arms is a second angle larger than the first angle due to the contact of the protrusion 832 with the roller 405. As shown in FIG. The second angle is such that the second wheels (402a to 402d) are engaged with the second rail 2 and one of the second wheels (402a to 402d) (for example, 402a and 402c) is in the X-axis direction of the housing space 403. It is an angle located laterally. That is, depending on whether the second wheels (402a to 402d) are engaged with the second rail 2, the second wheels (402a and 402b or 402c and 402d, for example) adjacent to each other in the Y-axis direction Intervals are different. Also, since the frame 400 is lifted by the telescopic mechanism 81, none of the first wheels (401a to 401d) are engaged with the first rail. As a result, only the second wheel set 402 out of the first wheel set 401 and the second wheel set 402 is engaged with the corresponding rail, and the container moving device 4 can move in the Y-axis direction. In addition, hereinafter, the state shown in FIG. 8 may be referred to as the second state of the direction selection mechanism 800 .

When the container moving device 4 moving in the X-axis direction changes its moving direction and moves in the Y-axis direction, the direction selection mechanism 800 transitions from the first state to the second state. In this case, first, the contracted expansion mechanism 81 expands in the vertical direction. As a result, the support shaft portion 82 is pushed downward from the state in which it is in contact with the plate portion 404 , and the second wheels ( 402 a to 402 d ) are engaged with the second rail 2 . Subsequently, the telescopic mechanism 81 further extends in the vertical direction, so that the arms (83a to 83d) rotate around the rotation shaft 831, and the angle between the two adjacent arms changes from the first angle to the second angle. , and the support shaft portion 82 is pushed further downward. Subsequently, when the telescopic mechanism 81 is further extended in the vertical direction, the telescopic mechanism 81 pushes up the frame body 400 to raise the frame body 400 relative to the arms (83a to 83d), thereby moving the first wheels (401a to 401d). is spaced from the first rail 1 . At this time, the rotation of the rollers 405 allows the frame 400 to rise without being affected by the frictional force with the protrusions 832 . In this manner, direction selector 800 transitions from the first state to the second state.

Further, when the container moving device 4 moving in the Y-axis direction changes its moving direction and moves in the X-axis direction, the direction selection mechanism 800 transitions from the second state to the first state. In this case, first, the telescopic mechanism 81, which is in an extended state, contracts in the vertical direction. As a result, the frame 400 descends with respect to the arms (83a-83d), and the first wheels (401a-401d) are engaged with the first rail 1. As shown in FIG. Subsequently, the telescopic mechanism 81 is further contracted in the vertical direction, so that the support shaft portion 82 is pulled upward, and the self-weight of the arms (83a to 83d) changes the angle between the two adjacent arms from the second angle to the second angle. Change to 1 angle. Subsequently, the telescopic mechanism 81 is further contracted in the vertical direction, so that the support shaft portion 82 is pulled up further until it contacts the plate portion 404 , and the second wheels ( 402 a to 402 d ) are separated from the second rail 2 . In this manner, direction selector 800 transitions from the second state to the first state.

FIG. 9 is a diagram showing an example of a schematic configuration of the storage system 100. As shown in FIG. The control device 5 is an information processing device such as a server or a PC (Personal Computer). The control device 5 receives a picking instruction for an article and communicates with the container moving device 4 via the access point 20 to move the container 9 containing the article from the loading space to the unloading work area P. to control the device 4; For this purpose, the control device 5 includes a control storage section 51 , a control communication section 52 and a control processing section 53 .

The control storage unit 51 is a device for storing programs or data, and includes, for example, a semiconductor memory device. The control storage unit 51 stores an operating system program, a driver program, an application program, data, etc. used for processing by the control processing unit 53 . The program is controlled and stored using a known setup program or the like from a computer-readable and non-temporary portable storage medium such as CD (Compact Disc)-ROM (Read Only Memory) and DVD (Digital Versatile Disc)-ROM. installed in the unit 51 .

The control communication unit 52 includes a communication interface circuit that allows the control device 5 to communicate with other devices such as the container moving device 4 via the access point 20 . A communication interface circuit provided in the control communication unit 52 is a communication interface circuit such as a wireless LAN (Local Area Network). The control communication unit 52 receives data transmitted from another device, supplies the data to the control processing unit 53, and transmits the data supplied from the control processing unit 53 to the other device.

The control processing unit 53 includes one or more processors and their peripheral circuits. The control processing unit 53 is, for example, a CPU (Central Processing Unit), and controls the operation of the control device 5 in an integrated manner. The control processor 53 may be a DSP (Digital Signal Processor), LSI (Large-Scaled IC), ASIC (Application Specific Integrated Circuit), FPGA (Field Programmable Gate Array), or the like. The control processing unit 53 controls the operation of the control communication unit 52 so that various processes of the control device 5 are executed in appropriate procedures based on the programs stored in the control storage unit 51 . The control processing unit 53 executes processing based on programs stored in the control storage unit 51 . Also, the control processing unit 53 can execute a plurality of programs in parallel.

The container moving device 4 includes a storage section 41 , a communication section 42 , a drive section 43 , a grip section 44 , a storage section 45 and a processing section 46 .

The storage unit 41 is a device for storing programs or data, and includes, for example, a semiconductor memory device. The storage unit 41 stores an operating system program, a driver program, an application program, data, and the like used for processing by the processing unit 46 . The program is installed in the storage unit 41 from a computer-readable non-temporary portable storage medium such as CD-ROM, DVD-ROM, etc. using a known setup program or the like.

The communication unit 42 includes a communication interface circuit that enables the container moving device 4 to communicate with other devices such as the control device 5 via the access point 20 . A communication interface circuit provided in the communication unit 42 is a communication interface circuit such as a wireless LAN. The communication unit 42 receives data transmitted from other devices, supplies the data to the processing unit 46, and transmits the data supplied from the processing unit 46 to other devices.

The driving unit 43 is a device for driving each component of the container moving device 4 in order to move the container moving device 4, and includes a plurality of motors and control circuits such as motor drivers corresponding to the respective motors. The motors provided in the drive unit 43 include an X-axis motor that drives the first wheels (401a to 401d), a Y-axis motor that drives the second wheels (402a to 402d), a direction selection motor that drives the telescopic mechanism 81, and the like. . The control circuit drives the corresponding motor according to the drive control signal supplied from the processing unit 46 .

The gripping part 44 is a structure for the container moving device 4 to lift the container 9 to the accommodation space 403, and includes hangers (61, 62), a hanger driving mechanism 600, and a control circuit such as a motor driver corresponding to the motors included in these. Prepare. The control circuit drives the container lifting motor 49a, the hanger motor 62c, etc. according to the drive control signal supplied from the processing unit 46. FIG.

The storage unit 45 is provided in the storage space 7 to store the container 9 lifted into the storage space 403 , and includes a movable table 71 .

The processing unit 46 includes one or more processors and their peripheral circuits. The processing unit 46 is, for example, a CPU, and controls the operations of the container moving device 4 in a centralized manner. The processing unit 46 may be DSP, LSI, ASIC, FPGA, or the like. The processing unit 46 controls the communication unit 42, the driving unit 43, the gripping unit 44, and the storage unit 45 so that various processes of the container moving device 4 are executed in an appropriate procedure based on the programs stored in the storage unit 41. controls the behavior of The processing unit 46 executes processing based on programs stored in the storage unit 41 . Also, the processing unit 46 can execute a plurality of programs in parallel.

The processing unit 46 includes a reception unit 461, a drive control unit 462, and a transmission unit 463 as functional blocks. Each of these units is a functional module implemented by a program executed by the processing unit 46 . Each of these units may be implemented in the container moving device 4 as firmware.

FIG. 10 is a diagram showing an example of the data structure of a container table T1 that manages information about containers 9 loaded in the loading space and stored in the control storage unit 51. As shown in FIG. In the container table T1, data such as container IDs, loading spaces, number of stages, and contents are stored in association with each other.

A container ID is identification information that uniquely identifies each of the plurality of containers 9 . The loading space is information indicating the loading space in which the corresponding container 9 is loaded. The information indicating the loading space is, for example, two-dimensional coordinates indicating the position of the loading space in the X-axis direction and the Y-axis direction. The number of stages is information indicating the number of stages in which the corresponding container 9 is loaded in the loading space. For example, when the container 9 is positioned at the bottom of the loading space, the information indicating the number of stages is "1", and when positioned second from the bottom, the information indicating the number of stages is "2". The content is information indicating the articles housed in the corresponding container 9 . Note that the loading space and the number of stages are examples of the loading position.

Various data in the container table T1 are set in advance by the administrator of the storage system 100. FIG. Further, various data in the container table T1 are stored in the control device 5 when the container moving device 4 transports the container 9 or when the articles contained in the container 9 are changed in the carry-out work area P or the carry-in work area Q. updated by

FIG. 11 is a diagram showing an example of the data structure of the mobile device table T2 stored in the control storage unit 51. As shown in FIG. In the mobile device table T2, data such as mobile device IDs, states, and positions are stored in association with each other.

The moving device ID is identification information for uniquely identifying each of the plurality of container moving devices 4 . The status is information indicating whether the corresponding container moving device 4 is in operation or on standby. That the container moving device 4 is in operation means that the container moving device 4 is transporting the container according to the control signal from the control device 5 . That the container moving device 4 is on standby means that the container moving device 4 is not in operation and can receive a new control signal from the control device 5 . The position is information indicating the position of the container moving device 4 , for example, information indicating the loading space located below the accommodation space 403 inside the container moving device 4 .

Various data in the moving device table T2 are updated by the control device 5 when the control device 5 receives a signal indicating the current state and position from the container moving device 4 .

FIG. 12 is a sequence diagram showing an example of the flow of container transport processing by the storage system 100. As shown in FIG. The container transport process is a process in which the storage system 100 transports the container containing the goods to the unloading work area P in response to the picking instruction of the goods. The container transport process is executed by the control processing unit 53 and the processing unit 46 executing programs stored in the control storage unit 51 and the storage unit 41, respectively, so that the control processing unit 53 and the processing unit 46 operate the control device 5 and the container moving device. It is realized by cooperating with each component of 4.

First, the control processing unit 53 of the control device 5 acquires a picking instruction via the control communication unit 52 (S101). The picking instruction includes information indicating an article housed in one of the plurality of containers 9 . The picking instruction is transmitted from, for example, an administrator terminal (not shown) of the storage system 100 or the like.

Subsequently, the control processing unit 53 identifies the container moving device 4 that transports the container (S102). For example, the control processing unit 53 refers to the container table T1 and identifies the container 9 that houses the article indicated in the picking instruction. The control processing unit 53 refers to the moving device table T2 and causes the container moving device 4 closest to the loading space of the specified container 9 among the waiting container moving devices 4 to transport the container. Identify as

Subsequently, the control processing unit 53 transmits a control signal for transporting the container to the identified container moving device 4 via the control communication unit 52 (S103). The control processing unit 53 refers to the container table T1 and calculates the depth of the specified container 9 . The depth of the container 9 is information indicating at what stage the container 9 is positioned from the top in the loading space. For example, when a container 9 is not loaded with another container, the depth of the container 9 is "1", and when one other container is loaded, the depth of the container 9 is It is "2". The control processing unit 53 refers to the container table T1 and counts the containers 9 loaded on the specified container 9 . A container loaded on the identified container 9 is a container that is loaded in the same loading space as the container 9 identified in the container table T1 and has a higher number of tiers than the identified container 9. The control processing unit 53 calculates the depth of the identified container 9 by adding 1 to the counted value.

The control processing unit 53 generates a control signal including information on the specified loading space of the container 9 , the number of stages, and the calculated depth, and transmits the control signal to the container moving device 4 . The control processing unit 53 updates the state of the container moving device 4 to which the control signal is transmitted to "operating" in the moving device table T2.

Subsequently, the receiving unit 461 of the container moving device 4 receives the control signal via the communication unit 42 (S104). The receiving unit 461 acquires information on the loading space and the number of stages of the container 9 included in the control signal.

Subsequently, the drive control unit 462 executes container extraction processing for extracting the containers 9 of the acquired loading space and number of stages (S105). Details of the container extraction process will be described later.

Subsequently, the drive control unit 462 conveys the taken-out container 9 to the unloading work area P (S106).

Subsequently, the transmission unit 463 transmits a completion signal indicating that the transportation of the container has been completed to the control device 5 via the communication unit 42 (S107).

Subsequently, in response to receiving the completion signal via the control communication unit 52, the control processing unit 53 updates the state of the container moving device 4 to standby in the moving device table T2 (S108), and performs a series of operations. End the process.

FIG. 13 is a flow diagram showing an example of the flow of container removal processing, and FIGS. 14 to 16 are schematic diagrams for explaining each step of the container removal processing. The container removal process is executed in S105 of the container transport process. Below, as shown in FIG. 14(a), containers 9a to 9f and 9g to 9l are respectively loaded in two loading spaces S1 and S2 adjacent in the X-axis direction, and the container indicated by the control signal is the container 9f. A certain case will be described as an example. Also, it is assumed that a maximum of six containers can be loaded in the loading spaces S1 and S2. The loading space S1 is an example of a predetermined loading space, and the loading space S2 is an example of another loading space.

First, as shown in FIG. 14B, the drive control section 462 of the container moving device 4 moves the container moving device 4 above the loading space S1 (S201). The drive control unit 462 controls the direction selection mechanism 800, the X-axis motor and the Y-axis motor to move the container moving device 4 so that the accommodation space 403 of the container moving device 4 is positioned above the loading space S1 of the container 9f. Let

Subsequently, the drive control unit 462 determines whether or not the container 9f can be lifted (S202). The drive control unit 462 determines that the container 9f can be lifted when the depth of the container 9f is greater than the maximum number of containers 9 that can be accommodated in the accommodation space 403 . In the following, it is assumed that the maximum number of containers 9 that can be accommodated in the accommodation space 403 is three. Since five containers 9a to 9e are loaded on the container 9f and the depth is 6, the drive control unit 462 determines that the container 9f cannot be lifted.

Since it is determined that the container 9f cannot be lifted (S202-Yes), the drive control unit 462 lifts the maximum number of containers that can be accommodated in the accommodation space 403 to the accommodation space 403, as shown in FIG. 14(c). (S203). First, the drive control unit 462 identifies a container to be gripped based on the number of stages and the depth of the container. Since the number of stages of the container 9f is 1 and the depth is 6, the drive control unit 462 calculates that the number of containers loaded in the loading space S1 is 6 pieces. In order to lift the maximum number of three containers out of the six loaded containers 9a to 9f, the container 9c on the fourth level from the bottom should be lifted. Identify as a container to grab.

Subsequently, the drive control unit 462 moves the hangers (61, 62) in the vertical direction based on the number of stages of the container. Since the container 9c has four stages, the drive control unit 462 drives the hanger lifting motor 49 to lower the hanger to the fourth stage where the container 9c is located.

Subsequently, the drive control unit 462 lifts the container up to the accommodation space 403 . The drive control unit 462 drives the hanger motor to engage the hook with the container 9c. The drive control unit 462 drives the hanger lifting motor 49 to raise the hangers, thereby lifting the three containers 9 a to 9 c and storing them in the storage space 403 .

Subsequently, as shown in FIG. 15(a), the drive control unit 462 causes the direction selection mechanism 800 to transition to the first state (S204).

Subsequently, the drive control unit 462 moves the container moving device 4 above the loading space S2 (S205). The drive control unit 462 moves the container moving device 4 by driving the X-axis motor.

Subsequently, as shown in FIG. 15(b), the drive control unit 462 moves the lifted containers 9a to 9c to the loading space S2 (S206). The drive control unit 462 drives the hanger lifting motor 49 and the hanger motor to load the containers 9a to 9c on the container 9g in the loading space S2. At this time, since the six containers 9g to 9l are already loaded in the loading space S2, the containers 9a to 9c are loaded above the loading space S2.

Subsequently, the drive control unit 462 updates the depth of the container 9f (S207). The drive control unit 462 updates the depth of the container 9f in the loading space S1 to 3, which is a value obtained by subtracting 3 from 6, in response to the movement of the three containers 9a to 9c to the other loading space S2. do.

Subsequently, the drive control unit 462 moves the container moving device 4 above the loading space S1 (S208). The drive control unit 462 drives the X-axis motor to move the container moving device 4 . At this time, since the frame body 400 of the container moving device 4 has a shape in which a part of the side surface extending in the Y-axis direction is open, the containers 9a to 9c loaded above the loading space S2 and the frame body 400 are separated from each other. The container moving device 4 can move in the X-axis direction without interference.

Subsequently, returning to S202, the drive control unit 462 determines whether or not the container 9f can be lifted (S202). Since the depth of the container 9f is updated to 3 in S208, it is less than the maximum number of containers 9 that can be accommodated in the accommodation space 403. FIG. Therefore, the drive control unit 462 determines that the container 9f can be lifted.

Since it is determined that the container 9f can be lifted (S202-No), the drive control unit 462 lifts the container indicated by the control signal to the accommodation space 403 as shown in FIG. 15(c) (S209). First, the drive control unit 462 moves the hangers (61, 62) in the vertical direction based on the number of container stages. Since the number of stages of the container 9f is 1, the drive control unit 462 drives the hanger lifting motor 49 to lower the hanger to the height of the first stage where the container 9f is positioned.

Subsequently, the drive control unit 462 lifts the container up to the accommodation space 403 . The drive control unit 462 drives the hanger motor to engage the hook with the container 9f. The drive control unit 462 drives the hanger lifting motor 49 to raise the hangers, thereby lifting the three containers 9 d to 9 f and storing them in the storage space 403 .

Subsequently, as shown in FIG. 16(a), the drive control unit 462 stores the container 9f in the storage space 7 (S210). The drive control unit 462 drives the movable table 71 of the storage unit 45 to move the mounting table from the storage space 7 to the lower part of the storage space 403 . The drive control unit 462 drives the hanger lifting motor and the hanger motor, places the containers 9d to 9f on the placing table, and then grips the container 9e to lift the containers 9d and 9e. The drive control unit 462 drives the movable table 71 to move the mounting table on which the container 9f is mounted from the lower part of the storage space 403 to the storage space 7 . As a result, the container 9f is stored in the storage space 7. FIG.

Subsequently, the drive control unit 462 determines whether or not there is a gripped container (S211). Since the containers 9d and 9e are gripped, the drive control unit 462 determines that there are gripped containers.

Since it is determined that there are held containers (S211-Yes), the drive control unit 462 returns the held containers 9d and 9e to the loading space S1 as shown in FIG. 16(b) (S212 ). The drive control unit 462 drives the hanger lifting motor 49 and the hanger motor to return the containers 9d and 9e to the loading space S1. If it is determined that there is no held container (S211-No), S212 is not executed.

Subsequently, the drive control unit 462 determines whether or not the container has been moved from the loading space S1 to another loading space (S213). Since the containers 9a to 9c have been moved from the loading space S1 to the loading space S2, the drive control unit 462 determines that the containers have been moved from the loading space S1 to another loading space.

Since it is determined that the container has been moved from the loading space S1 to another loading space (S213-Yes), the drive control unit 462 moves the moved containers 9a to 9c into the loading space as shown in FIG. 16(c). It returns from S2 to the loading space S1 (S214). The drive control unit 462 moves the container moving device 4 above the loading space S2 to lift the containers 9a to 9c. The drive control unit 462 moves the container moving device 4 above the loading space S1 and returns the lifted containers 9a to 9c to the loading space S1. If it is determined that the container has not been moved from the loading space S1 to another loading space (S213-No), S214 is not executed.

As described above, the frame body 400 of the container moving device 4 has a shape in which a part of the side surface extending in the Y-axis direction is opened. As a result, the container moving device 4 can efficiently take out a desired container in a storage system in which containers are stacked and stored.

That is, in a predetermined loading space, when more containers than a predetermined number that can be accommodated in the storage space 403 are loaded on top of a desired container, the container moving device 4 lifts the other containers to the storage space. to temporarily move it to another loading space. At this time, depending on the number of containers loaded in the other loading space, the temporarily moved container may be loaded above the other loading space. Even in this case, since the frame 400 has the above-described shape, the container moving device 4 can be moved from above another loading space to above a predetermined loading space without interfering with containers loaded up to above another loading space. to pick up the desired container. As a result, the container moving device 4 can take out a desired container loaded at a deep position without using the other container moving device 4 even when there is no space in other loading spaces, and the taking out of the container becomes efficient. do.

Also, the container moving device 4 varies the interval between the adjacent second wheels (eg, 402a and 402b or 402c and 402d) between the first state and the second state. As a result, the container moving device 4 can improve the stability of the device while making it possible to efficiently take out the desired container.

That is, in the first state, the container moving device 4 moves in the X-axis direction without interfering with containers loaded above other loading spaces. should not be located in On the other hand, even in the second state, if none of the second wheels are positioned to the side of the accommodation space 403, the center of gravity of the container moving device 4 will move toward the accommodation space 403 when the container is lifted. There is a risk that the container moving device 4 will overturn. In the second state, the container moving device 4 positions at least one second wheel on the side of the accommodation space 403 so that the center of gravity is located inside the second wheel set 402, and the container moving device 4 overturns. It is possible to reduce the possibility that the device will be damaged and improve the stability of the device.

Further, the container moving device 4 has a plurality of first wheels (401a to 401d) arranged with the accommodation space 403 interposed therebetween. As a result, it is possible to reduce the risk of the container moving device 4 overturning when it moves in the X-axis direction, thereby enhancing the stability of the device.

Note that the container moving device is not limited to the example of the container moving device 4 described above. 17 to 19 are perspective views showing the configuration of a container moving device 40, which is another example of the container moving device. 17 and 18 are diagrams when the container moving device 40 moves in the X-axis direction, that is, when the direction selection mechanism 850 of the container moving device 40 is in the first state. 17 and 18 are views of the container moving device 40 viewed from different directions in the X-axis direction. FIG. 19 is a diagram when the container moving device 40 moves in the Y-axis direction, that is, when the direction selection mechanism 850 is in the second state.

The container moving device 40 generally includes a frame 400, first wheels (401a-401d), second wheels (402a-402d), a hanger drive mechanism 600, a storage space 7 and a direction selection mechanism 850. Note that the hanger driving mechanism 600 and the storage space 7 are the same as those of the container moving device 4, and are therefore omitted from FIGS. The first wheels (401a to 401d) are driven by torque transmitted from an X-axis motor 432 via an X-axis pulley 401e and a belt 401f. The second wheels (402a-402d) are driven by torque transmitted from a Y-axis motor (not shown) via a Y-axis pulley 402e and a belt 402f.

The direction selection mechanism 850 generally includes a device lift drive link 851 , a device lift drive shaft 852 , a second wheel drive shaft 853 , a second wheel drive belt 854 and a second wheel drive arm 855 . The device lift drive link 851 connects the device lift motor 433 and the device lift drive shaft 852, receives the rotational force of the device lift motor 433, and drives the device lift drive shaft 852 up and down within its movable range. The device lift drive shaft 852 joins at both ends with walls (86a, 86b) on which the second wheels (402a-402d) are provided. The second wheel drive shaft 853 connects the second wheel drive motor 434 and the second wheel drive belt 854 and transmits the rotational force of the second wheel drive motor 434 to the second wheel drive belt 854 . The second wheel drive belt 854 transmits its rotational force to the second wheel drive arm 855 .

In the first state, as shown in FIGS. 17 and 18, device lift drive shaft 852 is positioned at the top of its range of motion. In this state, the wall surfaces (86a, 86b) are held at a height at which none of the second wheels (402a-402d) engage with the second rail 2. Also, the second wheel drive arm 855 is held at an angle such that the second wheels (402a, 402c) are not located on the side of the housing space 403 in the X-axis direction.

In the second state, as shown in FIG. 19, device lift drive shaft 852 is positioned at the bottom of its range of motion. In this state, the wall surfaces (86a, 86b) are held at a height where all of the second wheels (402a-402d) engage with the second rail 2. As shown in FIG. Also, the second wheel drive arm 855 is held at an angle such that the second wheels (402a, 402c) are positioned laterally of the housing space 403 in the X-axis direction.

When the direction selection mechanism 850 transitions from the first state to the second state, the device lift motor 433 operates, and the device lift drive shaft 852 to which the rotational force is transmitted through the device lift drive link 851 moves downward in the movable range. driven. As a result, the wall surfaces (86a, 86b) to which the device lift drive shaft 852 is joined are pushed downward with respect to the frame 400, and the second wheels (402a to 402d) are engaged with the second rail 2. In addition, the wall surfaces (86a, 86b) are pushed downward with respect to the frame 400, so that the frame 400 is pulled up, and the first wheels (401a to 401d) provided on the frame 400 move to the first wheels. Stay away from rail 1.

Simultaneously with the operation of the second wheels (402a to 402d) engaging with the second rail 2, or before or after this operation, the second wheel drive motor 434 operates, and the rotational force of the second wheel drive belt 854 rotates. is transmitted to the second wheel drive arm 855 via the The second wheel drive arm 855 to which the rotational force of the second wheel drive motor 434 is transmitted rotates, and the second wheels (402a, 402c) are moved to the side of the housing space 403. As shown in FIG. In this manner, direction selector 850 transitions from the first state to the second state.

When the direction selection mechanism 850 transitions from the second state to the first state, the device lift motor 433 operates, and the device lift drive shaft 852 to which the rotational force is transmitted through the device lift drive link 851 moves upward in the movable range. driven. As a result, the wall surfaces (86a, 86b) to which the device lift drive shaft 852 is joined are pulled upward with respect to the frame 400, and the second wheels (402a to 402d) are separated from the second rail 2. In addition, the wall surfaces (86a, 86b) are pulled upward with respect to the frame 400, so that the frame 400 is lowered downward, and the first wheels (401a to 401d) provided on the frame 400 move to the first wheels. 1 rail 1.

Simultaneously with the movement of the second wheels (402a to 402d) to separate from the second rail 2, or before or after this movement, the second wheel drive motor 434 operates, and its rotational force is transmitted through the second wheel drive belt 854. and is transmitted to the second wheel drive arm 855 . The second wheel drive arm 855 to which the rotational force of the second wheel drive motor 434 is transmitted rotates, and the second wheels (402a, 402c) are moved so as not to be positioned laterally of the accommodation space 403. FIG. In this manner, direction selector 850 transitions from the second state to the first state.

Also, in the above description, the plurality of containers 9 are assumed to have the same shape, but the present invention is not limited to such an example. Each of the plurality of containers 9 has a different height depending on the container 9, and the container moving device 4 vertically moves the hangers (61, 62) based on the height of the container 9 to move the container 9. You can lift it. As a result, the storage system 100 can use a container 9 having a height corresponding to the articles to be stored, and can store the articles at a higher density.

In this case, the control storage unit 51 stores the container table T3 instead of the container table T1. FIG. 20 is a diagram showing an example of the data structure of the container table T3. The container table T3 stores container IDs, loading spaces, number of stages, heights, and contents in association with each other. The height is information indicating the height of the corresponding container 9 that varies depending on the container 9 . Note that the loading space and the number of stages are examples of the loading position.

In this case, the control processing unit 53 calculates the height of the identified container 9 from the lower end of the loading space and the depth of the container 9 in S103 of the container transport processing. The control processing unit 53 refers to the container table T3, acquires the heights of all the containers 9 loaded under the specified container 9, and totals them, thereby obtaining the loading space of the specified container 9. Calculate the height from the bottom edge. In addition, the control processing unit 53 refers to the container table T3, obtains the heights of the specified container 9 and all the containers loaded on the specified container 9, and totals the heights of the specified container 9. Then, the depth of the container 9 is calculated. The control processing unit 53 outputs a control signal including the specified loading space of the container 9 , the calculated height and depth from the lower end, and the height of each container 9 loaded on the specified container 9 . It is generated and transmitted to the container moving device 4 .

In addition, in S202 of the container extraction process, the drive control unit 462 determines that the container 9f can be lifted when the depth of the container 9f is greater than the height of the accommodation space 403 .

Also, in S203, first, the drive control unit 462 identifies a container to be gripped based on the number of stages and the height of the container. The drive control unit 462 grips the container loaded at the bottom among the containers whose total height from the container 9a loaded at the top of the loading space S1 is equal to or less than the height of the storage space 403. Identify as In the example shown in FIG. 14(c), when the total height of the containers 9a-9c is equal to or less than the height of the accommodation space 403 and the total height of the containers 9a-9d is greater than the height of the accommodation space 403. , the drive control unit 462 identifies the container 9c as the container to be gripped.

Subsequently, the drive control unit 462 moves the hangers (61, 62) in the vertical direction based on the number of stages and the height of the container. In the example shown in FIG. 14(c), since the number of stages of the container 9c is 4, the drive control unit 462 determines the total height of the containers 9d to 9f loaded under the container 9c. Calculate as height. The drive control unit 462 drives the hanger lifting motor 49 to lower the hanger to the calculated height at which the container 9c is positioned.

Subsequently, the drive control unit 462 lifts the container up to the accommodation space 403 . The drive control unit 462 drives the hanger motor to engage the hook with the container 9c. The drive control unit 462 drives the hanger lifting motor 49 to raise the hangers, thereby lifting the three containers 9 a to 9 c and storing them in the storage space 403 .

Further, in S207, the drive control unit 462 changes the total height of the containers 9a to 9c from the depth of the container 9f in the loading space S1 in response to the containers 9a to 9c being moved to the other loading space S2. Update the depth of the container 9f by subtracting it.

Also, in S209, the drive control unit 462 first moves the hangers (61, 62) in the vertical direction based on the number of stages and the height of the container. The drive control unit 462 drives the hanger lifting motor 49 to lower the hanger to the height from the lower end of the container 9f indicated by the control signal, where the container 9f is positioned.

Subsequently, the drive control unit 462 lifts the container up to the accommodation space 403 . The drive control unit 462 drives the hanger motor to engage the hook with the container 9f. The drive control unit 462 drives the hanger lifting motor 49 to raise the hangers, thereby lifting the three containers 9 d to 9 f and storing them in the storage space 403 .

By doing so, the container moving device 4 can efficiently take out a desired container even in a high-density storage system using containers having heights corresponding to the stored articles.

Also, part or all of the functions of the control device 5 in the above description may be implemented in the container moving device 4 . For example, the drive control unit 462 of the container moving device 4 stores the container table T1 (or T3), and the loading space, number of stages (or height from the bottom end) and Depth may be calculated. Also, part of the functions of the container moving device 4 may be implemented in the control device 5 . For example, determination processing such as S202, S211, and S213 in the container removal processing may be performed by the control processing unit 53 of the control device 5, and an instruction according to the determination result may be transmitted to the container moving device 4.

It should be understood by those skilled in the art that various changes, substitutions and modifications can be made thereto without departing from the spirit and scope of the present invention. For example, the processing of each unit described above may be performed in a different order as appropriate within the scope of the present invention. Also, the above-described embodiments and modifications may be implemented in appropriate combinations within the scope of the present invention.

4 container moving device 400 frame body 401 first wheel set 402 second wheel set 43 drive section 44 grip section 45 storage section 461 reception section 462 drive control section 463 transmission section

Claims (5)

A container moving device that moves on a predetermined plane formed by a plurality of first rails extending in a first direction and a plurality of second rails extending in a second direction orthogonal to the first direction,
a frame;
vertically below an area surrounded by two adjacent first rails of the plurality of first rails and two adjacent second rails of the plurality of second rails; a gripping part for lifting a container loaded in loading spaces formed on the side and the upper side to a storage space inside the frame;
a first set of wheels engaging the plurality of first rails to move the container mover in the first direction;
a second set of wheels engaging the plurality of second rails to move the container mover in the second direction;
a drive control unit that controls the gripping unit and the first wheel set or the second wheel set to move a container loaded in a predetermined loading space to another loading space;
has
The frame body is configured to move in the second direction so that the container moving device can move in the first direction even when the moved container is loaded above the predetermined plane in the other loading space. has a shape in which a part of the side surface extending to the
The drive control unit is
engaging only one of said first set of wheels and said second set of wheels with a corresponding rail depending on the direction of movement of said container mover;
varying the distance between the plurality of second wheels included in the second wheel set depending on whether the second wheel set is engaged with the plurality of second rails;
A container moving device characterized by: The drive control unit controls that, when the second wheel set is engaged with the plurality of second rails, at least one second wheel among the plurality of second wheels is positioned laterally of the accommodation space. and moving the second wheel set such that none of the plurality of second wheels is positioned laterally of the accommodation space when the second wheel set is not engaged with the plurality of second rails. let
The container moving device according to claim 1. The plurality of first wheels included in the first wheel set are arranged across the accommodation space,
The container moving device according to claim 1 or 2. further comprising a storage unit provided adjacent to the storage space in the second direction and storing the container lifted to the storage space by the gripping unit;
A container moving device according to any one of claims 1-3. further comprising a storage unit that associates and stores the loading position of the container and the height of each container, which varies depending on the container;
The drive control unit vertically moves the gripping unit based on the loading position and height of the container to lift the container to the storage space.
A container moving device according to any one of claims 1-4.

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